Autonomous roof bolter and related methods

Abstract

An autonomous roof bolter includes a material handling system having a storage pod with a plurality of spaced, fixed holders, each receiving at least one of a plurality of roof bolts. A guidance system may automatically guide the roof bolter to a location for installing a roof bolt, such as by using a manipulator for retrieving the roof bolt from the storage pod and delivering it to a drill mast. The guidance provided by the guidance system may be distance or direction. Related methods are disclosed.

1 . A machine for traversing a mine passage and installing at least one roof bolt therein, comprising:
 a bolt holder for holding the at least one roof bolt;   a drill mast for installing the at least one roof bolt in the mine passage; and   a guidance system for automatically guiding the machine to a location for installing the at least one roof bolt.   
     
     
         2 . The machine of  claim 1 , wherein the guidance system comprises a laser mounted at a fixed location in the mine passage and a reflective target mounted on the machine in a path of the laser, whereby a position of the laser on the target may be used to control alignment of the machine within the mine passage. 
     
     
         3 . The machine of  claim 2 , further including a camera for capturing the position of the laser. 
     
     
         4 . The machine of  claim 2 , wherein the reflective target is mounted on a gimbal. 
     
     
         5 . The machine of  claim 2  further including a transparent or translucent target placed in series with the reflective target. 
     
     
         6 . The machine of  claim 1 , wherein the guidance system comprises a distance sensor including a laser, a sensor, and a reflective target in a path of the laser. 
     
     
         7 . The machine of  claim 6 , wherein the distance sensor is mounted on a gimbal. 
     
     
         8 . The machine of  claim 6 , wherein the bolt holder comprises a storage pod for holding a plurality of roof bolts, and a manipulator for individually feeding the roof bolts from the storage pod for installation. 
     
     
         9 . The machine of  claim 6 , wherein the bolt holder comprises a carousel for holding a plurality of roof bolts.